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Advanced Collision Detection Techniques in 3D Environments

This resource delves into two primary methods of collision detection and distance computation: the Bounding Volume Hierarchy (BVH) and feature tracking. The BVH approach encloses objects within volumes, allowing for efficient collision checks among few moving objects with complex geometries. In contrast, feature tracking focuses on tracking pairs of closest features, suitable for objects with moderate geometric complexity. The document also explores probabilistic roadmaps and the combination of techniques for enhanced accuracy and speed in proximity queries, emphasizing the effectiveness of these methods in dynamic environments.

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Advanced Collision Detection Techniques in 3D Environments

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  1. CS 326A: Motion Planning ai.stanford.edu/~latombe/cs326/2007/index.htm Collision Detectionand Distance Computation

  2. Two Main Approaches • Hierarchical bounding volume hierarchies (pre-computation) • Feature tracking (pairs of closest features)

  3. Bounding Volume Hierarchy Method • Enclose objects into bounding volumes (spheres or boxes) • Check the bounding volumes first

  4. Bounding Volume Hierarchy Method • Enclose objects into bounding volumes (spheres or boxes) • Check the bounding volumes first • Decompose an object into two

  5. BVH in 3D

  6. Collision Detection Methods • Bounding Volume Hierarchy (BVH) methods: Good for few moving objects with complex geometry • Feature-Tracking methods: Good for few objects with moderate geometric complexity

  7. Probabilistic Roadmaps Few moving objects,but complex geometry

  8. Static vs. Dynamic Collision Checking C-space

  9. Combining Bounding Volume and Feature Tracking Methods • S.A. Ehmann and M.C. Lin. Accurate and Fast Proximity Queries Between Polyhedra Using Convex Surface Decomposition. Proc. 2001 Eurographics, Vol. 20, No. 3, pp. 500-510, 2001.  Use BVH to quickly identify close pairs of polyhedra  Use feature-tracking to check these pairs

  10. Combining Bounding Volume and Feature Tracking Methods • T.Y. Li and J.S. Chen. 1998. Incremental 3D Collision Detection with Hierarchical Data Structures,Proc. ACM Symp. on Virtual Reality Software and Technology, p.139-144, Taipei, Taiwan

  11. Collision Detection Methods • Bounding Volume Hierarchy (BVH) methods: good for few moving objects with complex geometry • Feature-Tracking methods: Good for few objects with moderate geometric complexity • Grid method: Good for many simple moving objects of about the same size (e.g., many moving discs/balls with similar radii)

  12. Crowd Simulation Many moving objects, but simple geometry (discs) Need to also compute distances (vision, sounds)

  13. d Grid Method • Subdivide space into a regular grid cubic of square bins • Index each object in a bin

  14. d Grid Method Running time is proportional tonumber of moving objects

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